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fix: excise ballerinas from robot code

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C4llSiqn
2025-02-25 19:49:10 -07:00
parent 11861bf580
commit 57a9435c5d
10 changed files with 70 additions and 17 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+5 -4
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@@ -139,13 +139,14 @@ public class SwerveDrive extends Subsystem {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
leftStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
stopped = false;
if (fieldRelative) {
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
rightStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);
// ! drift correction
if (rightStick.getNorm() > 0.05 || !SwerveDriveConstants.DRIFT_CORRECTION_ENABLED) {
rotTarget = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()).getRotation().getDegrees();